Dirk Wilhelm — accepted AI-conference papers

2022

Constrained Visual-Inertial Localization With Application And Benchmark in Laparoscopic Surgery

Regine Hartwig, Daniel Ostler, Jean-Claude Rosenthal, Hubertus Feußner, Dirk Wilhelm, Dirk Wollherr

ICRA 2022poster

We propose a novel method to tackle the visual-inertial localization problem for constrained camera movements. We use residuals from the different modalities to jointly optimize a global cost function. The residuals emerge from IMU measurements, stereoscopic feature points, and constraints on possib…

Cited by 1 Source ↗Scholar ↗

2022

Tactile Robotic Telemedicine for Safe Remote Diagnostics in Times of Corona: System Design, Feasibility and Usability Study

Abdeldjallil Naceri, Jean Elsner, Mario Tröbinger, Hamid Sadeghian, Lars Johannsmeier, Florian Voigt +9

RA-L 2022

The current crisis surrounding the COVID-19 pandemic demonstrates the amount of responsibility and the workload on our healthcare system and, above all, on the medical staff around the world. In this work, we propose a promising approach to overcome this problem using robot-assisted telediagnostics,

Cited by 15 Source ↗Scholar ↗